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Method for controlling take-off pull-up of unmanned aerial vehicle based on robust servo

A servo control and unmanned aerial vehicle technology, applied in the direction of attitude control, non-electric variable control, control/regulation system, etc., can solve problems such as excessive lift off the ground, excessive pitch angle overshoot, and the nose cannot be pulled up. Achieve the effect of reducing overshoot, reducing overshoot, and improving stability

Inactive Publication Date: 2017-11-24
CHENGDU AIRCRAFT INDUSTRY GROUP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the above-mentioned problems existing in the prior art, to provide a method based on robust servo control UAV take-off pull-up, which can solve the problem of overshooting of the pitch angle when the UAV takes off the ground. Defects such as excessive force, unable to pull the machine head, etc.

Method used

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  • Method for controlling take-off pull-up of unmanned aerial vehicle based on robust servo
  • Method for controlling take-off pull-up of unmanned aerial vehicle based on robust servo
  • Method for controlling take-off pull-up of unmanned aerial vehicle based on robust servo

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Effect test

Embodiment 1

[0037] like Figures 2 to 5 As shown, a method for taking off and pulling up of a UAV based on robust servo control includes a control structure using robust servo, and the control structure includes an inner loop and an outer loop; the inner loop is a pitch rate control loop , the pitch angle rate control loop adopts a pitch angle rate deviation integral and a pitch angle rate damping control structure; the outer loop is a pitch angle control loop, and the pitch angle control loop adopts a pitch angle deviation proportional control structure.

[0038] The outer loop adopts pitch angle proportional control, and the inner loop adopts pitch angle rate integral control. Compared with the classic attitude pull-up control, there is an additional pitch angle rate control loop, which can effectively solve the problem of UAV pulling up during take-off. Problems such as excessive overshooting and overshooting of the pitch angle can improve the response characteristics of the vertical i...

Embodiment 2

[0040] like Figures 2 to 5 As shown, a method for taking off and pulling up of a UAV based on robust servo control includes a control structure using robust servo, and the control structure includes an inner loop and an outer loop; the inner loop is a pitch rate control loop , the pitch angle rate control loop adopts a pitch angle rate deviation integral and a pitch angle rate damping control structure; the outer loop is a pitch angle control loop, and the pitch angle control loop adopts a pitch angle deviation proportional control structure.

[0041] The pitch rate control loop:

[0042]

[0043] The pitch angle control loop:

[0044]

[0045] When the head-up moment of the UAV is too large, the pitch rate Q is greater than the command value Q of the pitch rate control law g , the pitch angle rate Q pull-up control law will pull out the rudder to suppress the UAV pull-up speed, reducing the overshoot of the pitch angle θ and the variation range of the ground-off angle ...

Embodiment 3

[0050] like Figures 2 to 5 As shown, a method for taking off and pulling up of a UAV based on robust servo control includes a control structure using robust servo, and the control structure includes an inner loop and an outer loop; the inner loop is a pitch rate control loop , the pitch angle rate control loop adopts a pitch angle rate deviation integral and a pitch angle rate damping control structure; the outer loop is a pitch angle control loop, and the pitch angle control loop adopts a pitch angle deviation proportional control structure.

[0051] The pitch rate control loop:

[0052]

[0053] The pitch angle control loop:

[0054]

[0055] When the head-up moment of the UAV is too large, the pitch rate Q is greater than the command value Q of the pitch rate control law g , the pitch angle rate Q pull-up control law will pull out the rudder to suppress the UAV pull-up speed, reducing the overshoot of the pitch angle θ and the variation range of the ground-off angl...

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Abstract

The invention relates to a method for controlling take-off pull-up of an unmanned aerial vehicle based on robust servo. A control structure adopting robust servo is adopted, and the control structure comprises an inner loop and an outer loop; the inner loop is a pitch rate control loop, which adopts a pitch rate deviation integral and pitch rate damping control structure; and the outer loop is a pitch control loop, which adopts a pitch deviation proportion control structure. By adopting pitch proportion control for the outer loop and pitch rate integral control for the inner loop, the pitch rate control loop is added over the classical attitude pull-up control, thereby effectively solving the problems of hasty pull-up, excessive pitch adjustment and the like of the unmanned aerial vehicle in the take-off pull-up process, improving the response characteristics of longitudinal indicators such as pitch, angle of attack and the like of the unmanned aerial vehicle in the take-off pull-up process, and guaranteeing secure take-off of the unmanned aerial vehicle.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle control, and in particular relates to a method for taking off and pulling up an unmanned aerial vehicle based on robust servo control. Background technique [0002] At present, most of the take-off and pull-up control schemes of large-aspect-ratio UAVs use attitude pull-up control. Angle control target value θ g , the controller calculates the current pitch angle θ of the UAV and the pitch angle control target value θ g get a fixed elevator control amount δ E , the elevator quickly pulls out the rudder to pull the drone up. The attitude pull-up control law is as follows: [0003] [0004] Among them, δ E is the elevator control volume, is the pitch rate damping coefficient, Q is the pitch rate, is the pitch angle damping coefficient, θ is the pitch angle, is the pitch angle control coefficient, θ g is the pitch angle control command value. [0005] like figure 1 As shown, th...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 金波胡羲熊维康赵东宏
Owner CHENGDU AIRCRAFT INDUSTRY GROUP
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